CN209521499U - A kind of suspended shock absorbing mechanism of mobile robot driving wheel - Google Patents
A kind of suspended shock absorbing mechanism of mobile robot driving wheel Download PDFInfo
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- CN209521499U CN209521499U CN201920122500.0U CN201920122500U CN209521499U CN 209521499 U CN209521499 U CN 209521499U CN 201920122500 U CN201920122500 U CN 201920122500U CN 209521499 U CN209521499 U CN 209521499U
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- driving wheel
- fixedly installed
- speed reducer
- axial screw
- mobile robot
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Abstract
The utility model discloses a kind of suspended shock absorbing mechanisms of mobile robot driving wheel, including damping main body, the side of driving wheel is fixedly installed with speed reducer, one end of speed reducer is fixedly connected with driving motor, the input shaft of speed reducer and the output shaft of driving motor are sequentially connected, driving wheel mounting plate is fixedly installed between speed reducer and driving wheel, the top of Rectangular Spring is fixedly connected with spring washer, the bottom end of spring guide shaft is fixedly connected with small axis fixing seat by small axial screw, one end of small axial screw is fixedly installed with small axle position nut, the other end of driving wheel mounting plate has assigned big axial screw by sliding bearing, the external fixing sleeve of big axial screw is equipped with shaft fixing block, one end of big axial screw is fixedly installed with big axle position nut.The utility model is simple and compact for structure, and operation is smooth, and good damping effect, bearing capacity is strong, and the adhesive force for being supplied to driving wheel is larger, good to the adaptability of complex road surface.
Description
Technical field
The utility model relates to suspension mechanism field, specially a kind of suspended shock absorbing mechanism of mobile robot driving wheel.
Background technique
With the development of science and technology, mobile robot is used for every field, its appearance is to people's lives and production
It brings great convenience, and very important mechanism is suspension inside it in the use process of this kind of mobile robot
Damping, the mechanism are to reduce its vibration in moving process in order to robot stabilized；And existing mobile robot suspension
For structure frequently with linear bearing type suspension, structure is not compact enough, and occupied space is more, and linear bearing type structure is to linear axis
It is higher to hold mounting surface requirement on machining accuracy, linear bearing cost itself is also higher, thus make the service life reduction of entire suspension,
Linear bearing type structural-load-carrying capacity is lower, therefore a kind of this practical suspension for proposing novel mobile robot driving wheel subtracts
Shake mechanism.
Utility model content
To solve defect present in background technique, the suspension that the utility model provides a kind of mobile robot driving wheel subtracts
Shake mechanism.
In order to solve the above-mentioned technical problem, the utility model provides the following technical solution:
A kind of suspended shock absorbing mechanism of mobile robot driving wheel of the utility model, including damping main body, it is described to subtract
The side of shake mechanism body is fixedly installed with driving wheel, and the side of driving wheel is fixedly installed with speed reducer, and one end of speed reducer is solid
Surely it is connected with driving motor, the input shaft of speed reducer and the output shaft of driving motor are sequentially connected, between speed reducer and driving wheel
It is fixedly installed with driving wheel mounting plate, one end of driving wheel mounting plate is fixedly installed with longitudinally disposed Rectangular Spring, rectangle bullet
The top of spring is fixedly connected with spring washer, and the bottom end of Rectangular Spring is fixedly installed with spring guide shaft, and the bottom end of spring guide shaft is logical
Too small axial screw is fixedly connected with small axis fixing seat, and one end of small axial screw is fixedly installed with small axle position nut, driving wheel
The other end of mounting plate has assigned big axial screw by sliding bearing, and the external fixing sleeve of big axial screw is fixed equipped with shaft
Seat, one end of big axial screw is fixedly installed with big axle position nut.
Further, the top of the spring washer is fixedly installed with stop nut.
Further, the driving wheel mounting plate is " recessed " shape structure.
Further, the output end of the speed reducer is connect with drive shaft, and speed reducer is right angle planetary reducer.
Further, the small axis fixing seat and shaft fixing block offer multiple threaded mounting holes.
Compared with prior art, the utility model has the following beneficial effects: the suspension of this kind of mobile robot driving wheel
Damping, by the way that the output shaft of driving motor output shaft and retarder in conjunction with retarder, is kept coaxial by driving motor
The mode of the heart, which is changed into, coaxially couples driving motor output shaft with the input shaft of retarder, avoids using linear bearing type
Configuration settings keep suspension mechanism simple and compact for structure, and processing and assembly efficiency are high, and the degree of modularity is high, fitted and removed easily,
Run smooth, good damping effect, bearing capacity is strong, can maintain higher precision for a long time, long service life, driving wheel is using non-right
Claim flange installing type wheel hub, compared to keyway installing type wheel hub, backhaul difference is smaller, and power of motor loss is smaller.Space utilization rate
Height, attractive appearance is convenient for disassembly and assembly, and the adhesive force for being supplied to driving wheel is larger, good to the adaptability of complex road surface.
Detailed description of the invention
Attached drawing is used to provide a further understanding of the present invention, and constitutes part of specification, practical with this
Novel embodiment is used to explain the utility model together, does not constitute limitations of the present invention.In the accompanying drawings:
Fig. 1 is that a kind of suspended shock absorbing mechanism of mobile robot driving wheel of the utility model is mounted on mobile robot chassis
In overall structure diagram；
Fig. 2 is a kind of structural schematic diagram of the suspended shock absorbing mechanism of mobile robot driving wheel of the utility model；
Fig. 3 is a kind of main view of the suspended shock absorbing mechanism of mobile robot driving wheel；
Fig. 4 is a kind of cross-sectional view of the suspended shock absorbing mechanism of mobile robot driving wheel；
Fig. 5 is a kind of top view of the suspended shock absorbing mechanism of mobile robot driving wheel；
Fig. 6 is a kind of explosive view of the suspended shock absorbing mechanism of mobile robot driving wheel.
In figure: 1, damping main body；2, driving wheel；3, speed reducer；4, driving motor；5, driving wheel mounting plate；6, sliding
Dynamic bearing；7, shaft fixing block；8, big axial screw；9, big axle position nut；10, small axis fixing seat；11, small axial screw；12,
Small axle position nut；13, spring guide shaft；14, Rectangular Spring；15, spring washer；16, stop nut.
Specific embodiment
To be easy to understand the technical means, creative features, achievement of purpose, and effectiveness of the utility model, below
In conjunction with specific embodiment, the utility model is further described.
As shown in figures 1 to 6, a kind of suspended shock absorbing mechanism of mobile robot driving wheel, including damping main body 1, it is described
The side of damping main body 1 is fixedly installed with driving wheel 2, and the side of driving wheel 2 is fixedly installed with speed reducer 3, plays transmission
Effect with revolving speed and transmitting torque, one end of speed reducer 3 are fixedly connected with driving motor 4, provide kinetic energy for speed reducer 3, subtract
The input shaft of fast machine 3 and the output shaft of driving motor 4 are sequentially connected, and are fixedly installed with driving wheel between speed reducer 3 and driving wheel 2
Mounting plate 5, one end of driving wheel mounting plate 5 are fixedly installed with longitudinally disposed Rectangular Spring 14, play cushioning effect, rectangle bullet
The top of spring 14 is fixedly connected with spring washer 15, and convenient for fixed Rectangular Spring 14, the bottom end of Rectangular Spring 14 is fixedly installed with
The bottom end of spring guide shaft 13, spring guide shaft 13 is fixedly connected with small axis fixing seat 10, small axial screw by small axial screw 11
11 one end is fixedly installed with small axle position nut 12, and the other end of driving wheel mounting plate 5 has assigned big axle position by sliding bearing 6
The external fixing sleeve of screw 8, big axial screw 8 is equipped with shaft fixing block 7, for entire mechanism to be fixed on robot chassis
On, one end of big axial screw 8 is fixedly installed with big axle position nut 9, for being consolidated shaft fixing block 7 by big axial screw 8
It is fixed.
Wherein, the top of spring washer 15 is fixedly installed with stop nut 16, and 14 top of Rectangular Spring is fixed.
Wherein, driving wheel mounting plate 5 is " recessed " shape structure, rationally utilizes space, reduces space hold.
Wherein, the output end of speed reducer 3 and 2 axis connection of driving wheel, and speed reducer 3 is right angle planetary reducer.
Wherein, small axis fixing seat 10 and shaft fixing block 7 offer multiple threaded mounting holes, for leading to entire mechanism
Bolt is crossed to be mounted on robot chassis.
It should be noted that the utility model is a kind of suspended shock absorbing mechanism of mobile robot driving wheel, specific works
When, it is first turned on driving motor 4, the output shaft output of driving motor 4 drives speed reducer 3 to work, the output shaft of speed reducer 3
Driving wheel 2 is driven to be rotated, to realize the movement of robot, robot its Rectangular Spring 14 in moving process, which passes through, to be stretched
Certain cushioning effect is shunk, keeps damping effect more preferable, the adhesive force for being supplied to driving wheel 2 is larger, fits to complex road surface
Answering property is good.
The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above.Current row
The technical staff of industry is described in above embodiments and description it should be appreciated that the present utility model is not limited to the above embodiments
Only illustrate the principles of the present invention, on the premise of not departing from the spirit and scope of the utility model, the utility model is also
It will have various changes and improvements, these various changes and improvements fall within the scope of the claimed invention.The utility model
Claimed range is defined by the appending claims and its equivalent thereof.
Claims (5)
1. a kind of suspended shock absorbing mechanism of mobile robot driving wheel, including damping main body (1), which is characterized in that described
The side of damping main body (1) is fixedly installed with driving wheel (2), and the side of driving wheel (2) is fixedly installed with speed reducer (3),
One end of speed reducer (3) is fixedly connected with driving motor (4), and the input shaft of speed reducer (3) and the output shaft of driving motor (4) pass
Dynamic connection, is fixedly installed with driving wheel mounting plate (5), the one of driving wheel mounting plate (5) between speed reducer (3) and driving wheel (2)
End is fixedly installed with longitudinally disposed Rectangular Spring (14), and the top of Rectangular Spring (14) is fixedly connected with spring washer (15),
The bottom end of Rectangular Spring (14) is fixedly installed with spring guide shaft (13), and the bottom end of spring guide shaft (13) passes through small axial screw (11)
It is fixedly connected with small axis fixing seat (10), one end of small axial screw (11) is fixedly installed with small axle position nut (12), driving wheel
The other end of mounting plate (5) has been assigned big axial screw (8) by sliding bearing (6), the external fixing sleeve of big axial screw (8)
Equipped with shaft fixing block (7), one end of big axial screw (8) is fixedly installed with big axle position nut (9).
2. a kind of suspended shock absorbing mechanism of mobile robot driving wheel according to claim 1, which is characterized in that the bullet
The top of spring washer (15) is fixedly installed with stop nut (16).
3. a kind of suspended shock absorbing mechanism of mobile robot driving wheel according to claim 1, which is characterized in that the drive
Driving wheel mounting plate (5) is " recessed " shape structure.
4. a kind of suspended shock absorbing mechanism of mobile robot driving wheel according to claim 1, which is characterized in that described to subtract
The output end and driving wheel (2) axis connection of fast machine (3), and speed reducer (3) is right angle planetary reducer.
5. a kind of suspended shock absorbing mechanism of mobile robot driving wheel according to claim 1, which is characterized in that described small
Axis fixing seat (10) and shaft fixing block (7) offer multiple threaded mounting holes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920122500.0U CN209521499U (en) | 2019-01-24 | 2019-01-24 | A kind of suspended shock absorbing mechanism of mobile robot driving wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920122500.0U CN209521499U (en) | 2019-01-24 | 2019-01-24 | A kind of suspended shock absorbing mechanism of mobile robot driving wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209521499U true CN209521499U (en) | 2019-10-22 |
Family
ID=68230412
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920122500.0U Active CN209521499U (en) | 2019-01-24 | 2019-01-24 | A kind of suspended shock absorbing mechanism of mobile robot driving wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209521499U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114179601A (en) * | 2021-12-20 | 2022-03-15 | 杭叉集团股份有限公司 | AGV elastic driving device |
-
2019
- 2019-01-24 CN CN201920122500.0U patent/CN209521499U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114179601A (en) * | 2021-12-20 | 2022-03-15 | 杭叉集团股份有限公司 | AGV elastic driving device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: West River Road Development Zone in Kunshan City, Suzhou City, Jiangsu province 215300 No. 188 No. 2 Patentee after: Harbin Institute of technology robot group (Kunshan) Co.,Ltd. Address before: West River Road Development Zone in Kunshan City, Suzhou City, Jiangsu province 215300 No. 188 No. 2 Patentee before: HIT ROBOT (KUNSHAN) Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder | ||
| CP03 | Change of name, title or address |
Address after: 215300 No. 488 Qianjin East Road, Kunshan Economic and Technological Development Zone, Suzhou, Jiangsu Province Patentee after: Strict Science and Technology Innovation Development (Kunshan) Co.,Ltd. Address before: 215300 No.2, 188 Xijiang Road, Kunshan Development Zone, Suzhou City, Jiangsu Province Patentee before: Harbin Institute of technology robot group (Kunshan) Co.,Ltd. |
|
| CP03 | Change of name, title or address |